Abstract: A Fuzzy logic control law is presented and implemented for trajectory tracking of multiple under actuated autonomous surface vessels. In this study, an individual unmanned ship is used to be the leader that tracks the desired path; other unmanned ships are used to be the followers which track the leader only by using its position. A fuzzy controller was implemented for the ship leader...

This paper is concerned with the problem of fuzzy iterative learning control for two-dimensional (2-D) state systems described by the Fornasini and Marchesini (FM) second state-space model. This paper gives iterative learning control (ILC) techniques, used to improve tracking control performance in 2-D processes. The fundamental concepts of the various ILC algorithms are presented, with a parti...

Since the 2-DOF rehabilitation robot actuated by pneumatic muscle actuators (PMAs) has highly nonlinear and time-varying behavior due to gas compression and nonlinear elasticity of bladder containers, it is difficult to achieve excellent control performance using classical control methods. Here, this study proposes a novel Takagi-Sugeno(T-S) fuzzy approach to improve tracking performance. The T...

This study introduces the fuzzy Lyapunov function to the fuzzy PID control systems, modified fuzzy systems, with an optimized robust tracking performance. We propose a compound search strategy called conditional linear matrix inequality (CLMI) approach which was composed of the proposed improved random optimal algorithm (IROA) concatenated with the simplex method to solve the linear matrix ineq...

Abstract This paper presents implementation of the adaptive neuro-fuzzy control method. Control performance of the adaptive neuro-fuzzy control method for a popular inverted pendulum system is evaluated. The inverted pendulum system is designed and built as an education kit for educational purpose for engineering students. The educational kit is specially used for intelligent control education....

The paper is addressed to study the trajectory control of robotic mechanisms, particularly, to the transient performance of path tracking control systems. The coefficients and terms of the robot dynamic equations may be partly unknown and some dynamic effects may be unmodeled. One general scheme, which is a combination of the generalization of the computed torque method and the velocity gradien...

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...